update User Guide

.gitignore

@@ -25,6 +25,8 @@ temp*
 *.toc
 *.snm
 *.vrb
+# vscode files
+.vscode/settings.json
 # eclipse files:
 *.cproject
 *.project

.vscode/settings.json

@@ -1,4 +1,4 @@
 {
-    "python.pythonPath": "c:\\Users\\gilbe\\Documents\\GitHub\\venv\\Scripts\\python.exe",
+    "python.pythonPath": "/home/gilbert/Github/venv/bin/python3",
     "python.dataScience.jupyterServerURI": "local"
 }

jupysketch-doc/site/Gallery/car.yml

@@ -0,0 +1,43 @@
+!!omap
+- name: car
+- parts:
+  - name: head
+    shapes:
+      libraries: ['from math import tan, radians, sin, cos', 'from pysketcher import *']
+  - name: constants
+    shapes:
+        R: 1.0    # radius of wheel
+        L: 4.0    # distance between wheels
+        H: 2.0    # height of vehicle body
+        w_1: 5.0  # position of front wheel
+  - name: frame
+    shapes:
+        xmax: w_1 + 2*L + 3*R
+        setframe:
+            action: drawing_tool.set_coordinate_system(xmin=0, xmax=xmax,
+                                   ymin=-1, ymax=2*R + 3*H,
+                                   axis=False)
+        wheel1: |
+                 Composition({'wheel': Circle(center=(w_1, R), radius=R),
+                    'cross': Composition({'cross1': Line((w_1,0),(w_1,2*R)),
+                    'cross2': Line((w_1-R,R), (w_1+R,R))})})
+        wheel2: 
+            formula: wheel1.copy()
+            transform: translate((L,0))
+
+        under: Rectangle(lower_left_corner=(w_1-2*R, 2*R),
+                  width=2*R + L + 2*R, height=H)
+        over: Rectangle(lower_left_corner=(w_1, 2*R + H),
+                  width=2.5*R, height=1.25*H)
+
+        wheels: | 
+                  Composition({'wheel1': wheel1, 'wheel2': wheel2})
+        body:  |
+                 Composition({'under': under, 'over': over})
+
+        vehicle: |
+                  Composition({'wheels': wheels, 'body': body})
+        ground: Wall(x=[R, xmax], y=[0, 0], thickness=-0.3*R)
+
+        car: |
+               Composition({'vehicle': vehicle, 'ground': ground})

jupysketch-doc/site/Gallery/dryfriction.yml

@@ -0,0 +1,98 @@
+!!omap
+- name: unknown
+- parts:
+  - name: head
+    shapes:
+      libraries: ['from math import tan, radians, sin, cos', from pysketcher import
+          *]
+  - name: constants
+    shapes:
+      fontsize: 18       # size of the characters
+      g: 9.81            # constant gravity
+      theta: 30.0        # inclined plane angle
+      L: 10.0            # sketch sizing parameter
+      a: 1.0             #
+      xmin: 0.0          # sketech min Abscissa
+      ymin: -3.0         # sketech min Ordinate     
+      rl: 2.0            # rectangle width
+      rL: 1.0            # rectangle length
+  - name: frame
+    shapes:
+      setframe:          # sketch setup
+        action: drawing_tool.set_coordinate_system(xmin=xmin-L/5, xmax=xmin+1.5*L,ymin=ymin,
+          ymax=ymin+1.5*L,instruction_file='tmp_mpl_friction.py')
+      setblackline:      # default frame values and actions
+        action: drawing_tool.set_linecolor('black')
+      B: point(a+L,0)                    # wall right end
+      A: point(a,tan(radians(theta))*L)  # wall left end
+      normal_vec: point(sin(radians(theta)),cos(radians(theta)))   # Vector normal to wall
+      tangent_vec: point(cos(radians(theta)),-sin(radians(theta))) # Vector tangent to wall
+      help_line: Line(A,B)               # wall line
+      x: a + 3*L/10.                     # contact point Abscissa
+      y: help_line(x=x)                  # contact point Ordinate
+      contact: point(x, y)               # contact point: middle of the rectangle bottom edge
+      c: contact + rL/2*normal_vec
+  - name: body
+    shapes:
+      rectangle:
+        formula: Rectangle(contact, rl, rL)
+        style:
+          linecolor: blue
+          filled_curves: 
+              color: blue
+        transform: ['rotate(-theta, contact)', translate(-rl/2*tangent_vec)]
+      N:
+        formula: Force(contact - rl*normal_vec, contact, r'$N$', text_pos='start')
+        style:
+          linecolor: black
+      wheel:
+        formula: "Composition({'outer': rectangle})"
+        style:
+          shadow: 1
+      mc:
+        formula: Text(r'$c$', c)
+      body:
+        formula: "Composition({'wheel': wheel, 'N': N, 'mc': mc})"
+        style:
+          linecolor: black
+  - name: plan
+    shapes:
+      mB:
+        formula: Text(r'$B$',B)
+      mA:
+        formula: Text(r'$A$', A)
+      wall:
+        formula: Wall(x=[A[0], B[0]], y=[A[1], B[1]], thickness=-0.25,transparent=False)
+        style:
+          linecolor: black
+      x_const:
+        formula: Line(contact, contact + point(0,4))
+        style:
+          linestyle: dotted
+        transform: rotate(-theta, contact)
+      x_axis:
+        formula: Axis(start=contact+ 2*rl*normal_vec, length=2*rl,label='$x$', rotation_angle=-theta)
+      plan:
+        formula: "Composition({'body': body, 'inclined wall': wall, 'x start': x_const,\
+          \ 'x axis': x_axis, 'mA': mA, 'mB': mB})"
+  - name: friction
+    shapes:
+      mg:
+        formula: Gravity(c, rl, text='$Mg$')
+        style:
+          linecolor: black
+      angle:
+        formula: Arc_wText(r'$<bslash>theta$', center=B, radius=3, start_angle=180-theta,
+          arc_angle=theta, fontsize=fontsize)
+        style:
+          linecolor: black
+          linewidth: 1
+      ground:
+        formula: Line((B[0]-L/10., 0), (B[0]-L/2.,0))
+        stlye:
+          linecolor: black
+          linestyle: dashed
+          linewidth: 1
+      friction:
+        formula: "Composition({'plan': plan, 'ground': ground, 'mg': mg, 'angle':\
+          \ angle})"

jupysketch-doc/site/Gallery/jet_pump.yml

@@ -0,0 +1,157 @@
+!!omap
+- name: jet_pump
+- parts:
+  - name: head
+    shapes:
+      libraries: ['from math import tan, radians, degrees, sin, cos, atan2, pi', 'from pysketcher import *']
+  - name: constants
+    shapes:          # All dimenssions in cm angles in degrees
+        Ljp: 16.0    # Total length
+        Lcy: 1.5     # Lenght of input cylindre
+        Lcon: 3.0    # length of input cone
+        Lmix: 2.0    # Length of mixing chamber cylinder
+        Lct: 1.0     # Length of penetration of jet cone inside cone mixing chamber
+        Lt: 5.0      # Length of transit cylinder
+        Ld: 4.0      # length of diffussion cone
+        D: 4         # external diameter
+        Din: 2.5     # Input cylinder internal diameter
+        Dout: 2.5    # Output internal Diameter
+        Dn: 0.5      # Nozzle internal diametre
+        Dmix: 3.5    # Diameter mixing chamber
+        einc: 0.25   # Thickness of the jet cone
+        eain: 0.2    # air input pipe thickness
+        x0: 1        # x drawing padding
+        y0: 1        # y drawing padding
+        H: 2.0       # Air pipe heigth
+        N: 0.75      # position of the nozzle exit with respect to mixing chamber output cone start
+  - name: frame
+    shapes:
+        Dt: D/3
+        setframe:          # sketch setup
+            action: drawing_tool.set_coordinate_system(xmin=0, xmax=Ljp+2*x0,
+                                   ymin=0, ymax=H+2*y0+D*1.5,
+                                   axis=False)
+        setblackline:      # default frame values and actions
+            action: drawing_tool.set_linecolor('blue')
+  - name: part0
+    shapes:
+        P01: Point(x0,y0+H)
+        P02: P01 + Point(0,(D-Din)/2)
+        P03: P02 + Point(Lcy,0)
+        P04: P03 + Point(Lcon,(Din-Dn)/2)
+        alpha: atan2((P04.y-P03.y),(P04.x-P03.x))
+        P05: P04 - Point(0,einc/cos(alpha))
+        P06: P05 - Point((Lmix+N)*cos(alpha),(Lmix+N)*sin(alpha))
+        P07: Point(P06.x,y0)
+        P08: P07-Point(eain,0)
+        P09: P08+Point(0,H)
+        p0: |
+            [P01,P02,P03,P04,P05,P06,P07,P08,P09,P01]
+        part0: 
+            formula: Trajectory(p0)
+            style:
+                filled_curves: 
+                    pattern: '/'
+        Lmixcone: Ljp-Ld-Lt-2*eain-Lmix-(P09.x-P01.x) # length of the mixing chamber cone
+        P11: Point(P07.x+Lmix,y0)
+        P12: P11 + Point(0,H+(D-Dmix)/2)
+        P13: P12 + Point(Lmixcone,(Dmix-Dt)/2)
+        P14: P13 + Point(Lt,0)
+        P15: P14 + Point(Ld,-(Dout-Dt)/2)
+        P16: P15 - Point(0,(D-Dout)/2)
+        P17: P16 - Point(Ld+Lt+Lmixcone-eain,0)
+        P18: P17 - Point(0,H)
+        p1: |
+               [P11,P12,P13,P14,P15,P16,P17,P18,P11]        
+        part1:
+            formula: Trajectory(p1)
+            style:
+                filled_curves:
+                    pattern: '/'
+        P21: Point(x0,y0+H+D)
+        P22: P21 + Point(Ljp-eain,0)
+        P23: P22 + Point(0,-(D-Dout)/2)
+        P24: P23 + Point(-Ld,-(Dout-Dt)/2)
+        P25: P24 + Point(-Lt,0)
+        P26: P25 + Point(-Lmixcone, (Dmix-Dt)/2)
+        P27: P26 + Point(-(Lmix),0)
+        P2C: P21 + Point(0,-(D-Din)/2)
+        P2B: P2C + Point(Lcy,0)
+        P2A: P2B + Point((Lcon+eain)*cos(alpha),-(Lcon+eain)*sin(alpha))
+        P29: P2A + Point(0,einc/cos(alpha))
+        P28: P29 + Point(-(Lmix+N)*cos(alpha), (Lmix+N)*sin(alpha))
+        p2:  |
+               [P21,P22,P23,P24,P25,P26,P27,P28,P29,P2A,P2B,P2C]
+        part2:
+            formula: Trajectory(p2)
+            style:
+                filled_curves:
+                    pattern: '/'
+        venturi: |  
+            Composition({'part0':part0,'part1':part1, 'part2':part2})
+        dljp: 
+            formula: Distance_wText(P21+Point(0,0.5),P22+Point(0,0.5),r'$L<bslash>textsubscript{jp}$')
+            style:
+                linecolor: 'black'
+                linewidth: 1
+        dld: 
+            formula: Distance_wText(Point(P14.x,P16.y)+Point(0,-1.5),P16+Point(0,-1.5),r'$L<bslash>textsubscript{d}$')
+            style:
+                linecolor: 'black'
+                linewidth: 1
+        dlt: 
+            formula: Distance_wText(Point(P13.x,P16.y)+Point(0,-1.5),Point(P14.x,P16.y)+Point(0,-1.5),r'$L<bslash>textsubscript{t}$')
+            style:
+                linecolor: 'black'
+                linewidth: 1
+        dlcm: 
+            formula: Distance_wText(Point(P12.x,P16.y)+Point(0,-1.5),Point(P13.x,P16.y)+Point(0,-1.5),r'$L<bslash>textsubscript{cm}$')
+            style:
+                linecolor: 'black'
+                linewidth: 1
+        dlmix: 
+            formula: Distance_wText(Point(P06.x,P16.y)+Point(0,-1.5),Point(P11.x,P16.y)+Point(0,-1.5),r'$L<bslash>textsubscript{mix}$')
+            style:
+                linecolor: 'black'
+                linewidth: 1
+        dlin: 
+            formula: Distance_wText(P02+Point(0,0.5),P03+Point(0,0.5),r'$L<bslash>textsubscript{in}$')
+            style:
+                linecolor: 'black'
+                linewidth: 1
+        dd:
+            formula: Distance_wText(P01-Point(0.5,0),P21-Point(0.5,0),r'$D$',alignment='right')
+            style:
+                linecolor: 'black'
+                linewidth: 1
+        dn:
+            formula: Distance_wText(P04+Point(0.5,0),P2A+Point(0.5,0),r'$D<bslash>textsubscript{n}$')
+            style:
+                linecolor: 'black'
+                linewidth: 1
+        ddmix:
+            formula: Distance_wText(P12,P26,r'$D<bslash>textsubscript{mix}$',alignment='right')
+            style:
+                linecolor: 'black'
+                linewidth: 1
+        ddin:
+            formula: Distance_wText(P02+Point(1.5,0),P2C+Point(1.5,0),r'$D<bslash>textsubscript{in}$',alignment='right')
+            style:
+                linecolor: 'black'
+                linewidth: 1
+        ddout:
+            formula: Distance_wText(P15+Point(0.5,0),P23+Point(0.5,0),r'$D<bslash>textsubscript{out}$')
+            style:
+                linecolor: 'black'
+                linewidth: 1
+        ddt:
+            formula: Distance_wText(P13,P25,r'$D<bslash>textsubscript{t}$')
+            style:
+                linecolor: 'black'
+                linewidth: 1
+        dim:  |
+            Composition({'dljp': dljp,'dld': dld,'dlt': dlt,'dlcm': dlcm,'dlmix': dlmix,'dlin': dlin,
+                        'ddin': ddin,'ddout': ddout,'ddt': ddt,'dd': dd,'dn':dn,'ddmix': ddmix})
+        jet_pump: |
+            Composition({'venturi':venturi, 'dim':dim})
+        

jupysketch-doc/site/Gallery/pendulum.yml

@@ -0,0 +1,52 @@
+!!omap
+- name: pendulum
+- parts:
+  - name: head
+    shapes:
+      libraries: ['from math import tan, radians, sin, cos', 'from pysketcher import *']
+  - name: constants
+    shapes:
+        H: 7.0
+        W: 6.0
+  - name: frame
+    shapes:
+        setframe:          # sketch setup
+            action: drawing_tool.set_coordinate_system(xmin=0, xmax=W,
+                                   ymin=0, ymax=H,
+                                   axis=False)
+        setblackline:      # default frame values and actions
+            action: drawing_tool.set_linecolor('blue')
+        L: 5*H/7          # length
+        P: (W/6, 0.85*H)  # rotation point
+        a: 40             # angle
+        vertical: 
+            formula: Line(P, P-point(0,L))
+            style:
+                linecolor: black
+                linewidth: 1
+        path: 
+            formula: Arc(P, L, -90, a)
+            style:
+                linecolor: black
+                linewidth: 1
+        angle: Arc_wText(r'$\theta$', P, L/4, -90, a, text_spacing=1/30.)
+
+        #rod: Line(P, P + L*point(sin(radians(a)), -L*cos(radians(a)))) is a less reliable alternative
+        mass_pt: path.geometric_features()['end']
+        rod: Line(P, mass_pt)
+
+        mass: 
+            formula: Circle(center=mass_pt, radius=L/20.)
+            style:
+                filled_curves: 
+                    color: 'blue'
+        rod_vec: rod.geometric_features()['end'] - rod.geometric_features()['start']
+        unit_rod_vec: unit_vec(rod_vec)
+        mass_symbol: Text('$m$', mass_pt + L/10*unit_rod_vec)
+
+        length: 
+            formula: Distance_wText(P, mass_pt, '$L$') # Displace length indication
+            transform: translate(L/15*point(cos(radians(a)), sin(radians(a))))
+        gravity: Gravity(start=P+point(0.8*L,0), length=L/3)
+
+        pendulum: "Composition({'body': mass, 'rod': rod,'vertical': vertical, 'theta': angle, 'path': path,'g': gravity, 'L': length, 'm': mass_symbol})"

jupysketch-doc/site/Gallery/springdashpotmass.yml

@@ -0,0 +1,56 @@
+!!omap
+- name: springdashpotmass
+- parts:
+  - name: head
+    shapes:
+      libraries: ['from math import tan, radians, sin, cos', 'from pysketcher import *']
+  - name: constants
+    shapes:
+        L: 12.
+  - name: frame
+    shapes:
+        H: L/6
+        W: L/6
+        xmax: L
+        x: 0        
+        setframe:
+            action: drawing_tool.set_coordinate_system(xmin=-L, xmax=xmax,
+                                   ymin=-1, ymax=L+H,
+                                   axis=False,
+                                   instruction_file='tmp_mpl_spring_mass.py')
+        globallinecolor:
+            action: drawing_tool.set_linecolor('black')
+        d_start: (-L,2*H)
+        dashpot:
+            formula: Dashpot(start=d_start, total_length=L+x, width=W,
+                bar_length=3*H/2, dashpot_length=L/2, piston_pos=H+x)
+            transform: rotate(-90, d_start)
+        s_start: (-L,4*H)
+        spring: 
+            formula: Spring(start=s_start, length=L+x, bar_length=3*H/2, teeth=True)
+            transform: rotate(-90, s_start)
+        M: Rectangle((0,H), 4*H, 4*H).set_linewidth(4)
+        left_wall: Rectangle((-L,0),H/10,L).set_filled_curves(pattern='/')
+        ground: Wall(x=[-L/2,L], y=[0,0], thickness=-H/10)
+        wheel1: Circle((H,H/2), H/2)
+        wheel2: 
+            formula: wheel1.copy()
+            transform: translate(point(2*H, 0))
+
+        fontsize: 18
+        text_m: Text('$m$', (2*H, H+2*H), fontsize=fontsize)
+        text_ku: Text('$ku$', (-L/2, H+4*H), fontsize=fontsize)
+        text_bv: Text("$bu'$", (-L/2, H), fontsize=fontsize)
+        x_axis: Axis((2*H, L), H, '$u(t)$', fontsize=fontsize,
+                     label_spacing=(0.04, -0.01))
+        x_axis_start: 
+            formula: Line((2*H, L-H/4), (2*H, L+H/4))
+            style:
+                linewidth: 4
+
+        springdashpotmass: |
+                      Composition({
+                        'spring': spring, 'dashpot': dashpot, 'mass': M, 'left wall': left_wall,
+                        'ground': ground, 'wheel1': wheel1, 'wheel2': wheel2,
+                        'text_m': text_m, 'text_ku': text_ku,
+                        'x_axis': x_axis, 'x_axis_start': x_axis_start})

jupysketch-doc/site/Gallery/springmass.yml

@@ -0,0 +1,51 @@
+!!omap
+- name: springmass
+- parts:
+  - name: head
+    shapes:
+      libraries: ['from math import tan, radians, sin, cos', 'from pysketcher import *']
+  - name: constants
+    shapes:
+        L: 12.
+  - name: frame
+    shapes:
+        H: L/6
+        W: L/6
+        xmax: L
+        x: 0        
+        setframe:
+            action: drawing_tool.set_coordinate_system(xmin=-L, xmax=xmax,
+                                   ymin=-1, ymax=L+H,
+                                   axis=False,
+                                   instruction_file='tmp_mpl_spring_mass.py')
+        globallinecolor:
+            action: drawing_tool.set_linecolor('black')
+        s_start: (-L,4*H)
+        spring: 
+            formula: Spring(start=s_start, length=L+x, bar_length=3*H/2, teeth=True)
+            transform: rotate(-90, s_start)
+        M: Rectangle((0,H), 4*H, 4*H).set_linewidth(4)
+        left_wall: Rectangle((-L,0),H/10,L).set_filled_curves(pattern='/')
+        ground: Wall(x=[-L/2,L], y=[0,0], thickness=-H/10)
+        wheel1: Circle((H,H/2), H/2)
+        wheel2: 
+            formula: wheel1.copy()
+            transform: translate(point(2*H, 0))
+
+        fontsize: 18
+        text_m: Text('$m$', (2*H, H+2*H), fontsize=fontsize)
+        text_ku: Text('$ku$', (-L/2, H+4*H), fontsize=fontsize)
+        text_bv: Text("$bu'$", (-L/2, H), fontsize=fontsize)
+        x_axis: Axis((2*H, L), H, '$u(t)$', fontsize=fontsize,
+                     label_spacing=(0.04, -0.01))
+        x_axis_start: 
+            formula: Line((2*H, L-H/4), (2*H, L+H/4))
+            style:
+                linewidth: 4
+
+        springmass: |
+                      Composition({
+                        'spring': spring, 'mass': M, 'left wall': left_wall,
+                        'ground': ground, 'wheel1': wheel1, 'wheel2': wheel2,
+                        'text_m': text_m, 'text_ku': text_ku,
+                        'x_axis': x_axis, 'x_axis_start': x_axis_start})

jupysketch-doc/site/assets/javascripts/lunr/min/lunr.jp.min.js

@@ -0,0 +1 @@
+module.exports=require("./lunr.ja");

jupysketch-doc/site/images/dotdryfriction.svg

@@ -0,0 +1,397 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="1247pt" height="510pt" viewBox="0.00 0.00 1246.65 510.44">
+<g id="graph0" class="graph" transform="scale(1 1) rotate(0) translate(4 506.441)">
+<title>G</title>
+<polygon fill="white" stroke="none" points="-4,4 -4,-506.441 1242.65,-506.441 1242.65,4 -4,4"/>
+<!-- Composition:\nfriction -->
+<g id="node1" class="node"><title>Composition:\nfriction</title>
+<ellipse fill="none" stroke="black" cx="867.054" cy="-475.571" rx="65.1077" ry="26.7407"/>
+<text text-anchor="middle" x="867.054" y="-479.371" font-family="Times New Roman,serif" font-size="14.00">Composition:</text>
+<text text-anchor="middle" x="867.054" y="-464.371" font-family="Times New Roman,serif" font-size="14.00">friction</text>
+</g>
+<!-- Composition:\nplan -->
+<g id="node2" class="node"><title>Composition:\nplan</title>
+<ellipse fill="none" stroke="black" cx="559.054" cy="-385.831" rx="65.1077" ry="26.7407"/>
+<text text-anchor="middle" x="559.054" y="-389.631" font-family="Times New Roman,serif" font-size="14.00">Composition:</text>
+<text text-anchor="middle" x="559.054" y="-374.631" font-family="Times New Roman,serif" font-size="14.00">plan</text>
+</g>
+<!-- Composition:\nfriction&#45;&gt;Composition:\nplan -->
+<g id="edge1" class="edge"><title>Composition:\nfriction-&gt;Composition:\nplan</title>
+<path fill="none" stroke="black" d="M814.457,-459.587C761.051,-444.373 678.356,-420.816 621.619,-404.653"/>
+<polygon fill="black" stroke="black" points="622.268,-401.199 611.692,-401.825 620.35,-407.931 622.268,-401.199"/>
+</g>
+<!-- Line:\nground -->
+<g id="node27" class="node"><title>Line:\nground</title>
+<ellipse fill="none" stroke="black" cx="816.054" cy="-385.831" rx="39.6962" ry="26.7407"/>
+<text text-anchor="middle" x="816.054" y="-389.631" font-family="Times New Roman,serif" font-size="14.00">Line:</text>
+<text text-anchor="middle" x="816.054" y="-374.631" font-family="Times New Roman,serif" font-size="14.00">ground</text>
+</g>
+<!-- Composition:\nfriction&#45;&gt;Line:\nground -->
+<g id="edge26" class="edge"><title>Composition:\nfriction-&gt;Line:\nground</title>
+<path fill="none" stroke="black" d="M852.303,-449.193C847.041,-440.141 841.033,-429.804 835.441,-420.184"/>
+<polygon fill="black" stroke="black" points="838.297,-418.132 830.245,-411.246 832.245,-421.65 838.297,-418.132"/>
+</g>
+<!-- Gravity:\nmg -->
+<g id="node29" class="node"><title>Gravity:\nmg</title>
+<ellipse fill="none" stroke="black" cx="919.054" cy="-385.831" rx="43.2674" ry="26.7407"/>
+<text text-anchor="middle" x="919.054" y="-389.631" font-family="Times New Roman,serif" font-size="14.00">Gravity:</text>
+<text text-anchor="middle" x="919.054" y="-374.631" font-family="Times New Roman,serif" font-size="14.00">mg</text>
+</g>
+<!-- Composition:\nfriction&#45;&gt;Gravity:\nmg -->
+<g id="edge28" class="edge"><title>Composition:\nfriction-&gt;Gravity:\nmg</title>
+<path fill="none" stroke="black" d="M882.094,-449.193C887.514,-440.048 893.712,-429.591 899.463,-419.887"/>
+<polygon fill="black" stroke="black" points="902.496,-421.633 904.584,-411.246 896.475,-418.064 902.496,-421.633"/>
+</g>
+<!-- Arc_wText:\nangle -->
+<g id="node33" class="node"><title>Arc_wText:\nangle</title>
+<ellipse fill="none" stroke="black" cx="1112.05" cy="-385.831" rx="58.8803" ry="26.7407"/>
+<text text-anchor="middle" x="1112.05" y="-389.631" font-family="Times New Roman,serif" font-size="14.00">Arc_wText:</text>
+<text text-anchor="middle" x="1112.05" y="-374.631" font-family="Times New Roman,serif" font-size="14.00">angle</text>
+</g>
+<!-- Composition:\nfriction&#45;&gt;Arc_wText:\nangle -->
+<g id="edge32" class="edge"><title>Composition:\nfriction-&gt;Arc_wText:\nangle</title>
+<path fill="none" stroke="black" d="M915.166,-457.341C955.891,-442.756 1014.27,-421.85 1056.88,-406.589"/>
+<polygon fill="black" stroke="black" points="1058.3,-409.798 1066.54,-403.132 1055.94,-403.208 1058.3,-409.798"/>
+</g>
+<!-- Composition:\nbody -->
+<g id="node3" class="node"><title>Composition:\nbody</title>
+<ellipse fill="none" stroke="black" cx="199.054" cy="-296.09" rx="65.1077" ry="26.7407"/>
+<text text-anchor="middle" x="199.054" y="-299.89" font-family="Times New Roman,serif" font-size="14.00">Composition:</text>
+<text text-anchor="middle" x="199.054" y="-284.89" font-family="Times New Roman,serif" font-size="14.00">body</text>
+</g>
+<!-- Composition:\nplan&#45;&gt;Composition:\nbody -->
+<g id="edge2" class="edge"><title>Composition:\nplan-&gt;Composition:\nbody</title>
+<path fill="none" stroke="black" d="M501.756,-372.883C446.538,-361.113 360.749,-342.154 287.054,-322.96 278.34,-320.691 269.182,-318.162 260.201,-315.598"/>
+<polygon fill="black" stroke="black" points="261.134,-312.225 250.555,-312.814 259.192,-318.95 261.134,-312.225"/>
+</g>
+<!-- Wall:\ninclined wall -->
+<g id="node12" class="node"><title>Wall:\ninclined wall</title>
+<ellipse fill="none" stroke="black" cx="356.054" cy="-296.09" rx="60.2083" ry="26.7407"/>
+<text text-anchor="middle" x="356.054" y="-299.89" font-family="Times New Roman,serif" font-size="14.00">Wall:</text>
+<text text-anchor="middle" x="356.054" y="-284.89" font-family="Times New Roman,serif" font-size="14.00">inclined wall</text>
+</g>
+<!-- Composition:\nplan&#45;&gt;Wall:\ninclined wall -->
+<g id="edge11" class="edge"><title>Composition:\nplan-&gt;Wall:\ninclined wall</title>
+<path fill="none" stroke="black" d="M515.006,-365.792C483.484,-352.168 440.94,-333.78 407.799,-319.456"/>
+<polygon fill="black" stroke="black" points="408.847,-316.096 398.279,-315.341 406.07,-322.521 408.847,-316.096"/>
+</g>
+<!-- Line:\nx start -->
+<g id="node14" class="node"><title>Line:\nx start</title>
+<ellipse fill="none" stroke="black" cx="470.054" cy="-296.09" rx="36.125" ry="26.7407"/>
+<text text-anchor="middle" x="470.054" y="-299.89" font-family="Times New Roman,serif" font-size="14.00">Line:</text>
+<text text-anchor="middle" x="470.054" y="-284.89" font-family="Times New Roman,serif" font-size="14.00">x start</text>
+</g>
+<!-- Composition:\nplan&#45;&gt;Line:\nx start -->
+<g id="edge13" class="edge"><title>Composition:\nplan-&gt;Line:\nx start</title>
+<path fill="none" stroke="black" d="M534.734,-360.855C523.588,-349.867 510.299,-336.766 498.675,-325.306"/>
+<polygon fill="black" stroke="black" points="500.893,-322.579 491.315,-318.051 495.979,-327.564 500.893,-322.579"/>
+</g>
+<!-- Axis:\nx axis -->
+<g id="node16" class="node"><title>Axis:\nx axis</title>
+<ellipse fill="none" stroke="black" cx="559.054" cy="-296.09" rx="34.7971" ry="26.7407"/>
+<text text-anchor="middle" x="559.054" y="-299.89" font-family="Times New Roman,serif" font-size="14.00">Axis:</text>
+<text text-anchor="middle" x="559.054" y="-284.89" font-family="Times New Roman,serif" font-size="14.00">x axis</text>
+</g>
+<!-- Composition:\nplan&#45;&gt;Axis:\nx axis -->
+<g id="edge15" class="edge"><title>Composition:\nplan-&gt;Axis:\nx axis</title>
+<path fill="none" stroke="black" d="M559.054,-358.506C559.054,-350.539 559.054,-341.648 559.054,-333.159"/>
+<polygon fill="black" stroke="black" points="562.554,-333.094 559.054,-323.094 555.554,-333.094 562.554,-333.094"/>
+</g>
+<!-- Text:\nmA -->
+<g id="node25" class="node"><title>Text:\nmA</title>
+<ellipse fill="none" stroke="black" cx="643.054" cy="-296.09" rx="31.6406" ry="26.7407"/>
+<text text-anchor="middle" x="643.054" y="-299.89" font-family="Times New Roman,serif" font-size="14.00">Text:</text>
+<text text-anchor="middle" x="643.054" y="-284.89" font-family="Times New Roman,serif" font-size="14.00">mA</text>
+</g>
+<!-- Composition:\nplan&#45;&gt;Text:\nmA -->
+<g id="edge24" class="edge"><title>Composition:\nplan-&gt;Text:\nmA</title>
+<path fill="none" stroke="black" d="M582.453,-360.39C593.045,-349.326 605.616,-336.195 616.555,-324.769"/>
+<polygon fill="black" stroke="black" points="619.083,-327.189 623.471,-317.546 614.027,-322.349 619.083,-327.189"/>
+</g>
+<!-- Text:\nmB -->
+<g id="node26" class="node"><title>Text:\nmB</title>
+<ellipse fill="none" stroke="black" cx="725.054" cy="-296.09" rx="31.6406" ry="26.7407"/>
+<text text-anchor="middle" x="725.054" y="-299.89" font-family="Times New Roman,serif" font-size="14.00">Text:</text>
+<text text-anchor="middle" x="725.054" y="-284.89" font-family="Times New Roman,serif" font-size="14.00">mB</text>
+</g>
+<!-- Composition:\nplan&#45;&gt;Text:\nmB -->
+<g id="edge25" class="edge"><title>Composition:\nplan-&gt;Text:\nmB</title>
+<path fill="none" stroke="black" d="M601.281,-365.269C625.773,-353.592 657.023,-338.125 684.054,-322.96 686.531,-321.571 689.068,-320.098 691.605,-318.588"/>
+<polygon fill="black" stroke="black" points="693.434,-321.572 700.15,-313.377 689.79,-315.595 693.434,-321.572"/>
+</g>
+<!-- Composition:\nwheel -->
+<g id="node4" class="node"><title>Composition:\nwheel</title>
+<ellipse fill="none" stroke="black" cx="65.0538" cy="-206.35" rx="65.1077" ry="26.7407"/>
+<text text-anchor="middle" x="65.0538" y="-210.15" font-family="Times New Roman,serif" font-size="14.00">Composition:</text>
+<text text-anchor="middle" x="65.0538" y="-195.15" font-family="Times New Roman,serif" font-size="14.00">wheel</text>
+</g>
+<!-- Composition:\nbody&#45;&gt;Composition:\nwheel -->
+<g id="edge3" class="edge"><title>Composition:\nbody-&gt;Composition:\nwheel</title>
+<path fill="none" stroke="black" d="M165.24,-272.95C147.704,-261.468 126.11,-247.328 107.465,-235.12"/>
+<polygon fill="black" stroke="black" points="109.14,-232.034 98.8569,-229.484 105.306,-237.89 109.14,-232.034"/>
+</g>
+<!-- Force:\nN -->
+<g id="node7" class="node"><title>Force:\nN</title>
+<ellipse fill="none" stroke="black" cx="186.054" cy="-206.35" rx="37.4533" ry="26.7407"/>
+<text text-anchor="middle" x="186.054" y="-210.15" font-family="Times New Roman,serif" font-size="14.00">Force:</text>
+<text text-anchor="middle" x="186.054" y="-195.15" font-family="Times New Roman,serif" font-size="14.00">N</text>
+</g>
+<!-- Composition:\nbody&#45;&gt;Force:\nN -->
+<g id="edge6" class="edge"><title>Composition:\nbody-&gt;Force:\nN</title>
+<path fill="none" stroke="black" d="M195.224,-269.24C194.018,-261.102 192.664,-251.962 191.374,-243.255"/>
+<polygon fill="black" stroke="black" points="194.829,-242.698 189.901,-233.319 187.905,-243.724 194.829,-242.698"/>
+</g>
+<!-- Text:\nmc -->
+<g id="node11" class="node"><title>Text:\nmc</title>
+<ellipse fill="none" stroke="black" cx="273.054" cy="-206.35" rx="31.6406" ry="26.7407"/>
+<text text-anchor="middle" x="273.054" y="-210.15" font-family="Times New Roman,serif" font-size="14.00">Text:</text>
+<text text-anchor="middle" x="273.054" y="-195.15" font-family="Times New Roman,serif" font-size="14.00">mc</text>
+</g>
+<!-- Composition:\nbody&#45;&gt;Text:\nmc -->
+<g id="edge10" class="edge"><title>Composition:\nbody-&gt;Text:\nmc</title>
+<path fill="none" stroke="black" d="M220.061,-270.182C228.932,-259.664 239.322,-247.345 248.541,-236.415"/>
+<polygon fill="black" stroke="black" points="251.236,-238.648 255.008,-228.747 245.885,-234.135 251.236,-238.648"/>
+</g>
+<!-- Rectangle:\nouter -->
+<g id="node5" class="node"><title>Rectangle:\nouter</title>
+<ellipse fill="none" stroke="black" cx="65.0538" cy="-116.61" rx="52.1524" ry="26.7407"/>
+<text text-anchor="middle" x="65.0538" y="-120.41" font-family="Times New Roman,serif" font-size="14.00">Rectangle:</text>
+<text text-anchor="middle" x="65.0538" y="-105.41" font-family="Times New Roman,serif" font-size="14.00">outer</text>
+</g>
+<!-- Composition:\nwheel&#45;&gt;Rectangle:\nouter -->
+<g id="edge4" class="edge"><title>Composition:\nwheel-&gt;Rectangle:\nouter</title>
+<path fill="none" stroke="black" d="M65.0538,-179.025C65.0538,-171.059 65.0538,-162.168 65.0538,-153.679"/>
+<polygon fill="black" stroke="black" points="68.5539,-153.614 65.0538,-143.614 61.5539,-153.614 68.5539,-153.614"/>
+</g>
+<!-- Curve:\nrectangle -->
+<g id="node6" class="node"><title>Curve:\nrectangle</title>
+<ellipse fill="none" stroke="black" cx="65.0538" cy="-26.8701" rx="46.8387" ry="26.7407"/>
+<text text-anchor="middle" x="65.0538" y="-30.6701" font-family="Times New Roman,serif" font-size="14.00">Curve:</text>
+<text text-anchor="middle" x="65.0538" y="-15.6701" font-family="Times New Roman,serif" font-size="14.00">rectangle</text>
+</g>
+<!-- Rectangle:\nouter&#45;&gt;Curve:\nrectangle -->
+<g id="edge5" class="edge"><title>Rectangle:\nouter-&gt;Curve:\nrectangle</title>
+<path fill="none" stroke="black" d="M65.0538,-89.2852C65.0538,-81.3185 65.0538,-72.4275 65.0538,-63.9391"/>
+<polygon fill="black" stroke="black" points="68.5539,-63.874 65.0538,-53.874 61.5539,-63.8741 68.5539,-63.874"/>
+</g>
+<!-- Line:\narrow (1) -->
+<g id="node8" class="node"><title>Line:\narrow (1)</title>
+<ellipse fill="none" stroke="black" cx="185.054" cy="-116.61" rx="48.1667" ry="26.7407"/>
+<text text-anchor="middle" x="185.054" y="-120.41" font-family="Times New Roman,serif" font-size="14.00">Line:</text>
+<text text-anchor="middle" x="185.054" y="-105.41" font-family="Times New Roman,serif" font-size="14.00">arrow (1)</text>
+</g>
+<!-- Force:\nN&#45;&gt;Line:\narrow (1) -->
+<g id="edge7" class="edge"><title>Force:\nN-&gt;Line:\narrow (1)</title>
+<path fill="none" stroke="black" d="M185.754,-179.025C185.663,-171.059 185.562,-162.168 185.465,-153.679"/>
+<polygon fill="black" stroke="black" points="188.964,-153.574 185.35,-143.614 181.964,-153.653 188.964,-153.574"/>
+</g>
+<!-- Text:\ntext (1) -->
+<g id="node10" class="node"><title>Text:\ntext (1)</title>
+<ellipse fill="none" stroke="black" cx="291.054" cy="-116.61" rx="39.6962" ry="26.7407"/>
+<text text-anchor="middle" x="291.054" y="-120.41" font-family="Times New Roman,serif" font-size="14.00">Text:</text>
+<text text-anchor="middle" x="291.054" y="-105.41" font-family="Times New Roman,serif" font-size="14.00">text (1)</text>
+</g>
+<!-- Force:\nN&#45;&gt;Text:\ntext (1) -->
+<g id="edge9" class="edge"><title>Force:\nN-&gt;Text:\ntext (1)</title>
+<path fill="none" stroke="black" d="M209.88,-185.441C224.307,-173.385 242.901,-157.847 258.653,-144.685"/>
+<polygon fill="black" stroke="black" points="261.164,-147.148 266.593,-138.05 256.675,-141.776 261.164,-147.148"/>
+</g>
+<!-- Curve:\nline (1) -->
+<g id="node9" class="node"><title>Curve:\nline (1)</title>
+<ellipse fill="none" stroke="black" cx="185.054" cy="-26.8701" rx="38.7821" ry="26.7407"/>
+<text text-anchor="middle" x="185.054" y="-30.6701" font-family="Times New Roman,serif" font-size="14.00">Curve:</text>
+<text text-anchor="middle" x="185.054" y="-15.6701" font-family="Times New Roman,serif" font-size="14.00">line (1)</text>
+</g>
+<!-- Line:\narrow (1)&#45;&gt;Curve:\nline (1) -->
+<g id="edge8" class="edge"><title>Line:\narrow (1)-&gt;Curve:\nline (1)</title>
+<path fill="none" stroke="black" d="M185.054,-89.2852C185.054,-81.3185 185.054,-72.4275 185.054,-63.9391"/>
+<polygon fill="black" stroke="black" points="188.554,-63.874 185.054,-53.874 181.554,-63.8741 188.554,-63.874"/>
+</g>
+<!-- Curve:\nwall -->
+<g id="node13" class="node"><title>Curve:\nwall</title>
+<ellipse fill="none" stroke="black" cx="360.054" cy="-206.35" rx="37.4533" ry="26.7407"/>
+<text text-anchor="middle" x="360.054" y="-210.15" font-family="Times New Roman,serif" font-size="14.00">Curve:</text>
+<text text-anchor="middle" x="360.054" y="-195.15" font-family="Times New Roman,serif" font-size="14.00">wall</text>
+</g>
+<!-- Wall:\ninclined wall&#45;&gt;Curve:\nwall -->
+<g id="edge12" class="edge"><title>Wall:\ninclined wall-&gt;Curve:\nwall</title>
+<path fill="none" stroke="black" d="M357.254,-268.765C357.617,-260.799 358.022,-251.908 358.409,-243.419"/>
+<polygon fill="black" stroke="black" points="361.909,-243.503 358.868,-233.354 354.916,-243.184 361.909,-243.503"/>
+</g>
+<!-- Curve:\nline (2) -->
+<g id="node15" class="node"><title>Curve:\nline (2)</title>
+<ellipse fill="none" stroke="black" cx="458.054" cy="-206.35" rx="38.7821" ry="26.7407"/>
+<text text-anchor="middle" x="458.054" y="-210.15" font-family="Times New Roman,serif" font-size="14.00">Curve:</text>
+<text text-anchor="middle" x="458.054" y="-195.15" font-family="Times New Roman,serif" font-size="14.00">line (2)</text>
+</g>
+<!-- Line:\nx start&#45;&gt;Curve:\nline (2) -->
+<g id="edge14" class="edge"><title>Line:\nx start-&gt;Curve:\nline (2)</title>
+<path fill="none" stroke="black" d="M466.518,-269.24C465.405,-261.102 464.155,-251.962 462.964,-243.255"/>
+<polygon fill="black" stroke="black" points="466.428,-242.753 461.606,-233.319 459.493,-243.701 466.428,-242.753"/>
+</g>
+<!-- Arrow3:\narrow -->
+<g id="node17" class="node"><title>Arrow3:\narrow</title>
+<ellipse fill="none" stroke="black" cx="559.054" cy="-206.35" rx="43.6818" ry="26.7407"/>
+<text text-anchor="middle" x="559.054" y="-210.15" font-family="Times New Roman,serif" font-size="14.00">Arrow3:</text>
+<text text-anchor="middle" x="559.054" y="-195.15" font-family="Times New Roman,serif" font-size="14.00">arrow</text>
+</g>
+<!-- Axis:\nx axis&#45;&gt;Arrow3:\narrow -->
+<g id="edge16" class="edge"><title>Axis:\nx axis-&gt;Arrow3:\narrow</title>
+<path fill="none" stroke="black" d="M559.054,-268.765C559.054,-260.799 559.054,-251.908 559.054,-243.419"/>
+<polygon fill="black" stroke="black" points="562.554,-243.354 559.054,-233.354 555.554,-243.354 562.554,-243.354"/>
+</g>
+<!-- Text:\nlabel -->
+<g id="node24" class="node"><title>Text:\nlabel</title>
+<ellipse fill="none" stroke="black" cx="653.054" cy="-206.35" rx="31.6406" ry="26.7407"/>
+<text text-anchor="middle" x="653.054" y="-210.15" font-family="Times New Roman,serif" font-size="14.00">Text:</text>
+<text text-anchor="middle" x="653.054" y="-195.15" font-family="Times New Roman,serif" font-size="14.00">label</text>
+</g>
+<!-- Axis:\nx axis&#45;&gt;Text:\nlabel -->
+<g id="edge23" class="edge"><title>Axis:\nx axis-&gt;Text:\nlabel</title>
+<path fill="none" stroke="black" d="M580.856,-274.741C593.852,-262.61 610.497,-247.073 624.53,-233.975"/>
+<polygon fill="black" stroke="black" points="627.095,-236.368 632.017,-226.986 622.318,-231.251 627.095,-236.368"/>
+</g>
+<!-- Line:\nline -->
+<g id="node18" class="node"><title>Line:\nline</title>
+<ellipse fill="none" stroke="black" cx="464.054" cy="-116.61" rx="31.2258" ry="26.7407"/>
+<text text-anchor="middle" x="464.054" y="-120.41" font-family="Times New Roman,serif" font-size="14.00">Line:</text>
+<text text-anchor="middle" x="464.054" y="-105.41" font-family="Times New Roman,serif" font-size="14.00">line</text>
+</g>
+<!-- Arrow3:\narrow&#45;&gt;Line:\nline -->
+<g id="edge17" class="edge"><title>Arrow3:\narrow-&gt;Line:\nline</title>
+<path fill="none" stroke="black" d="M535.081,-183.21C522.124,-171.242 506.041,-156.389 492.458,-143.844"/>
+<polygon fill="black" stroke="black" points="494.513,-140.977 484.792,-136.763 489.763,-146.119 494.513,-140.977"/>
+</g>
+<!-- Line:\nhead left -->
+<g id="node20" class="node"><title>Line:\nhead left</title>
+<ellipse fill="none" stroke="black" cx="559.054" cy="-116.61" rx="45.011" ry="26.7407"/>
+<text text-anchor="middle" x="559.054" y="-120.41" font-family="Times New Roman,serif" font-size="14.00">Line:</text>
+<text text-anchor="middle" x="559.054" y="-105.41" font-family="Times New Roman,serif" font-size="14.00">head left</text>
+</g>
+<!-- Arrow3:\narrow&#45;&gt;Line:\nhead left -->
+<g id="edge19" class="edge"><title>Arrow3:\narrow-&gt;Line:\nhead left</title>
+<path fill="none" stroke="black" d="M559.054,-179.025C559.054,-171.059 559.054,-162.168 559.054,-153.679"/>
+<polygon fill="black" stroke="black" points="562.554,-153.614 559.054,-143.614 555.554,-153.614 562.554,-153.614"/>
+</g>
+<!-- Line:\nhead right -->
+<g id="node22" class="node"><title>Line:\nhead right</title>
+<ellipse fill="none" stroke="black" cx="672.054" cy="-116.61" rx="50.41" ry="26.7407"/>
+<text text-anchor="middle" x="672.054" y="-120.41" font-family="Times New Roman,serif" font-size="14.00">Line:</text>
+<text text-anchor="middle" x="672.054" y="-105.41" font-family="Times New Roman,serif" font-size="14.00">head right</text>
+</g>
+<!-- Arrow3:\narrow&#45;&gt;Line:\nhead right -->
+<g id="edge21" class="edge"><title>Arrow3:\narrow-&gt;Line:\nhead right</title>
+<path fill="none" stroke="black" d="M585.547,-184.779C600.546,-173.133 619.519,-158.402 635.872,-145.704"/>
+<polygon fill="black" stroke="black" points="638.398,-148.174 644.15,-139.277 634.104,-142.645 638.398,-148.174"/>
+</g>
+<!-- Curve:\nline (3) -->
+<g id="node19" class="node"><title>Curve:\nline (3)</title>
+<ellipse fill="none" stroke="black" cx="463.054" cy="-26.8701" rx="38.7821" ry="26.7407"/>
+<text text-anchor="middle" x="463.054" y="-30.6701" font-family="Times New Roman,serif" font-size="14.00">Curve:</text>
+<text text-anchor="middle" x="463.054" y="-15.6701" font-family="Times New Roman,serif" font-size="14.00">line (3)</text>
+</g>
+<!-- Line:\nline&#45;&gt;Curve:\nline (3) -->
+<g id="edge18" class="edge"><title>Line:\nline-&gt;Curve:\nline (3)</title>
+<path fill="none" stroke="black" d="M463.754,-89.2852C463.663,-81.3185 463.562,-72.4275 463.465,-63.9391"/>
+<polygon fill="black" stroke="black" points="466.964,-63.8335 463.35,-53.874 459.964,-63.9133 466.964,-63.8335"/>
+</g>
+<!-- Curve:\nline (4) -->
+<g id="node21" class="node"><title>Curve:\nline (4)</title>
+<ellipse fill="none" stroke="black" cx="559.054" cy="-26.8701" rx="38.7821" ry="26.7407"/>
+<text text-anchor="middle" x="559.054" y="-30.6701" font-family="Times New Roman,serif" font-size="14.00">Curve:</text>
+<text text-anchor="middle" x="559.054" y="-15.6701" font-family="Times New Roman,serif" font-size="14.00">line (4)</text>
+</g>
+<!-- Line:\nhead left&#45;&gt;Curve:\nline (4) -->
+<g id="edge20" class="edge"><title>Line:\nhead left-&gt;Curve:\nline (4)</title>
+<path fill="none" stroke="black" d="M559.054,-89.2852C559.054,-81.3185 559.054,-72.4275 559.054,-63.9391"/>
+<polygon fill="black" stroke="black" points="562.554,-63.874 559.054,-53.874 555.554,-63.8741 562.554,-63.874"/>
+</g>
+<!-- Curve:\nline (5) -->
+<g id="node23" class="node"><title>Curve:\nline (5)</title>
+<ellipse fill="none" stroke="black" cx="672.054" cy="-26.8701" rx="38.7821" ry="26.7407"/>
+<text text-anchor="middle" x="672.054" y="-30.6701" font-family="Times New Roman,serif" font-size="14.00">Curve:</text>
+<text text-anchor="middle" x="672.054" y="-15.6701" font-family="Times New Roman,serif" font-size="14.00">line (5)</text>
+</g>
+<!-- Line:\nhead right&#45;&gt;Curve:\nline (5) -->
+<g id="edge22" class="edge"><title>Line:\nhead right-&gt;Curve:\nline (5)</title>
+<path fill="none" stroke="black" d="M672.054,-89.2852C672.054,-81.3185 672.054,-72.4275 672.054,-63.9391"/>
+<polygon fill="black" stroke="black" points="675.554,-63.874 672.054,-53.874 668.554,-63.8741 675.554,-63.874"/>
+</g>
+<!-- Curve:\nline (6) -->
+<g id="node28" class="node"><title>Curve:\nline (6)</title>
+<ellipse fill="none" stroke="black" cx="814.054" cy="-296.09" rx="38.7821" ry="26.7407"/>
+<text text-anchor="middle" x="814.054" y="-299.89" font-family="Times New Roman,serif" font-size="14.00">Curve:</text>
+<text text-anchor="middle" x="814.054" y="-284.89" font-family="Times New Roman,serif" font-size="14.00">line (6)</text>
+</g>
+<!-- Line:\nground&#45;&gt;Curve:\nline (6) -->
+<g id="edge27" class="edge"><title>Line:\nground-&gt;Curve:\nline (6)</title>
+<path fill="none" stroke="black" d="M815.454,-358.506C815.272,-350.539 815.069,-341.648 814.876,-333.159"/>
+<polygon fill="black" stroke="black" points="818.374,-333.012 814.647,-323.094 811.375,-333.172 818.374,-333.012"/>
+</g>
+<!-- Line:\narrow (2) -->
+<g id="node30" class="node"><title>Line:\narrow (2)</title>
+<ellipse fill="none" stroke="black" cx="919.054" cy="-296.09" rx="48.1667" ry="26.7407"/>
+<text text-anchor="middle" x="919.054" y="-299.89" font-family="Times New Roman,serif" font-size="14.00">Line:</text>
+<text text-anchor="middle" x="919.054" y="-284.89" font-family="Times New Roman,serif" font-size="14.00">arrow (2)</text>
+</g>
+<!-- Gravity:\nmg&#45;&gt;Line:\narrow (2) -->
+<g id="edge29" class="edge"><title>Gravity:\nmg-&gt;Line:\narrow (2)</title>
+<path fill="none" stroke="black" d="M919.054,-358.506C919.054,-350.539 919.054,-341.648 919.054,-333.159"/>
+<polygon fill="black" stroke="black" points="922.554,-333.094 919.054,-323.094 915.554,-333.094 922.554,-333.094"/>
+</g>
+<!-- Text:\ntext (2) -->
+<g id="node32" class="node"><title>Text:\ntext (2)</title>
+<ellipse fill="none" stroke="black" cx="1025.05" cy="-296.09" rx="39.6962" ry="26.7407"/>
+<text text-anchor="middle" x="1025.05" y="-299.89" font-family="Times New Roman,serif" font-size="14.00">Text:</text>
+<text text-anchor="middle" x="1025.05" y="-284.89" font-family="Times New Roman,serif" font-size="14.00">text (2)</text>
+</g>
+<!-- Gravity:\nmg&#45;&gt;Text:\ntext (2) -->
+<g id="edge31" class="edge"><title>Gravity:\nmg-&gt;Text:\ntext (2)</title>
+<path fill="none" stroke="black" d="M944.443,-363.815C958.943,-351.813 977.268,-336.645 992.78,-323.804"/>
+<polygon fill="black" stroke="black" points="995.129,-326.403 1000.6,-317.331 990.666,-321.011 995.129,-326.403"/>
+</g>
+<!-- Curve:\nline (7) -->
+<g id="node31" class="node"><title>Curve:\nline (7)</title>
+<ellipse fill="none" stroke="black" cx="919.054" cy="-206.35" rx="38.7821" ry="26.7407"/>
+<text text-anchor="middle" x="919.054" y="-210.15" font-family="Times New Roman,serif" font-size="14.00">Curve:</text>
+<text text-anchor="middle" x="919.054" y="-195.15" font-family="Times New Roman,serif" font-size="14.00">line (7)</text>
+</g>
+<!-- Line:\narrow (2)&#45;&gt;Curve:\nline (7) -->
+<g id="edge30" class="edge"><title>Line:\narrow (2)-&gt;Curve:\nline (7)</title>
+<path fill="none" stroke="black" d="M919.054,-268.765C919.054,-260.799 919.054,-251.908 919.054,-243.419"/>
+<polygon fill="black" stroke="black" points="922.554,-243.354 919.054,-233.354 915.554,-243.354 922.554,-243.354"/>
+</g>
+<!-- Arc:\narc -->
+<g id="node34" class="node"><title>Arc:\narc</title>
+<ellipse fill="none" stroke="black" cx="1112.05" cy="-296.09" rx="28.9828" ry="26.7407"/>
+<text text-anchor="middle" x="1112.05" y="-299.89" font-family="Times New Roman,serif" font-size="14.00">Arc:</text>
+<text text-anchor="middle" x="1112.05" y="-284.89" font-family="Times New Roman,serif" font-size="14.00">arc</text>
+</g>
+<!-- Arc_wText:\nangle&#45;&gt;Arc:\narc -->
+<g id="edge33" class="edge"><title>Arc_wText:\nangle-&gt;Arc:\narc</title>
+<path fill="none" stroke="black" d="M1112.05,-358.506C1112.05,-350.539 1112.05,-341.648 1112.05,-333.159"/>
+<polygon fill="black" stroke="black" points="1115.55,-333.094 1112.05,-323.094 1108.55,-333.094 1115.55,-333.094"/>
+</g>
+<!-- Text:\ntext (3) -->
+<g id="node36" class="node"><title>Text:\ntext (3)</title>
+<ellipse fill="none" stroke="black" cx="1199.05" cy="-296.09" rx="39.6962" ry="26.7407"/>
+<text text-anchor="middle" x="1199.05" y="-299.89" font-family="Times New Roman,serif" font-size="14.00">Text:</text>
+<text text-anchor="middle" x="1199.05" y="-284.89" font-family="Times New Roman,serif" font-size="14.00">text (3)</text>
+</g>
+<!-- Arc_wText:\nangle&#45;&gt;Text:\ntext (3) -->
+<g id="edge35" class="edge"><title>Arc_wText:\nangle-&gt;Text:\ntext (3)</title>
+<path fill="none" stroke="black" d="M1135.83,-360.855C1146.47,-350.117 1159.12,-337.361 1170.3,-326.09"/>
+<polygon fill="black" stroke="black" points="1172.84,-328.499 1177.39,-318.934 1167.87,-323.571 1172.84,-328.499"/>
+</g>
+<!-- Curve:\narc -->
+<g id="node35" class="node"><title>Curve:\narc</title>
+<ellipse fill="none" stroke="black" cx="1112.05" cy="-206.35" rx="37.4533" ry="26.7407"/>
+<text text-anchor="middle" x="1112.05" y="-210.15" font-family="Times New Roman,serif" font-size="14.00">Curve:</text>
+<text text-anchor="middle" x="1112.05" y="-195.15" font-family="Times New Roman,serif" font-size="14.00">arc</text>
+</g>
+<!-- Arc:\narc&#45;&gt;Curve:\narc -->
+<g id="edge34" class="edge"><title>Arc:\narc-&gt;Curve:\narc</title>
+<path fill="none" stroke="black" d="M1112.05,-268.765C1112.05,-260.799 1112.05,-251.908 1112.05,-243.419"/>
+<polygon fill="black" stroke="black" points="1115.55,-243.354 1112.05,-233.354 1108.55,-243.354 1115.55,-243.354"/>
+</g>
+</g>
+</svg>

jupysketch-doc/site/reference/dryfriction.yml

@@ -0,0 +1,97 @@
+!!omap
+- name: unknown
+- parts:
+  - name: head
+    shapes:
+      libraries: ['from math import tan, radians, sin, cos', from pysketcher import
+          *]
+  - name: constants
+    shapes:
+      fontsize: 18       # size of the characters
+      g: 9.81            # constant gravity
+      theta: 30.0        # inclined plane angle
+      L: 10.0            # sketch sizing parameter
+      a: 1.0             #
+      xmin: 0.0          # sketech min Abscissa
+      ymin: -3.0         # sketech min Ordinate     
+      rl: 2.0            # rectangle width
+      rL: 1.0            # rectangle length
+  - name: frame
+    shapes:
+      setframe:          # sketch setup
+        action: drawing_tool.set_coordinate_system(xmin=xmin-L/5, xmax=xmin+1.5*L,ymin=ymin,
+          ymax=ymin+1.5*L,instruction_file='tmp_mpl_friction.py')
+      setblackline:      # default frame values and actions
+        action: drawing_tool.set_linecolor('black')
+      B: point(a+L,0)                    # wall right end
+      A: point(a,tan(radians(theta))*L)  # wall left end
+      normal_vec: point(sin(radians(theta)),cos(radians(theta)))   # Vector normal to wall
+      tangent_vec: point(cos(radians(theta)),-sin(radians(theta))) # Vector tangent to wall
+      help_line: Line(A,B)               # wall line
+      x: a + 3*L/10.                     # contact point Abscissa
+      y: help_line(x=x)                  # contact point Ordinate
+      contact: point(x, y)               # contact point: middle of the rectangle bottom edge
+      c: contact + rL/2*normal_vec
+  - name: body
+    shapes:
+      rectangle:
+        formula: Rectangle(contact, rl, rL)
+        style:
+          linecolor: blue
+          filled_curves: blue
+        transform: ['rotate(-theta, contact)', translate(-rl/2*tangent_vec)]
+      N:
+        formula: Force(contact - rl*normal_vec, contact, r'$N$', text_pos='start')
+        style:
+          linecolor: black
+      wheel:
+        formula: "Composition({'outer': rectangle})"
+        style:
+          shadow: 1
+      mc:
+        formula: Text(r'$c$', c)
+      body:
+        formula: "Composition({'wheel': wheel, 'N': N, 'mc': mc})"
+        style:
+          linecolor: black
+  - name: plan
+    shapes:
+      mB:
+        formula: Text(r'$B$',B)
+      mA:
+        formula: Text(r'$A$', A)
+      wall:
+        formula: Wall(x=[A[0], B[0]], y=[A[1], B[1]], thickness=-0.25,transparent=False)
+        style:
+          linecolor: black
+      x_const:
+        formula: Line(contact, contact + point(0,4))
+        style:
+          linestyle: dotted
+        transform: rotate(-theta, contact)
+      x_axis:
+        formula: Axis(start=contact+ 2*rl*normal_vec, length=2*rl,label='$x$', rotation_angle=-theta)
+      plan:
+        formula: "Composition({'body': body, 'inclined wall': wall, 'x start': x_const,\
+          \ 'x axis': x_axis, 'mA': mA, 'mB': mB})"
+  - name: friction
+    shapes:
+      mg:
+        formula: Gravity(c, rl, text='$Mg$')
+        style:
+          linecolor: black
+      angle:
+        formula: Arc_wText(r'$<bslash>theta$', center=B, radius=3, start_angle=180-theta,
+          arc_angle=theta, fontsize=fontsize)
+        style:
+          linecolor: black
+          linewidth: 1
+      ground:
+        formula: Line((B[0]-L/10., 0), (B[0]-L/2.,0))
+        stlye:
+          linecolor: black
+          linestyle: dashed
+          linewidth: 1
+      friction:
+        formula: "Composition({'plan': plan, 'ground': ground, 'mg': mg, 'angle':\
+          \ angle})"

jupysketch-doc/site/sitemap.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<urlset xmlns="http://www.sitemaps.org/schemas/sitemap/0.9"><url>
+     <loc>None</loc>
+     <lastmod>2020-08-10</lastmod>
+     <changefreq>daily</changefreq>
+    </url><url>
+     <loc>None</loc>
+     <lastmod>2020-08-10</lastmod>
+     <changefreq>daily</changefreq>
+    </url><url>
+     <loc>None</loc>
+     <lastmod>2020-08-10</lastmod>
+     <changefreq>daily</changefreq>
+    </url><url>
+     <loc>None</loc>
+     <lastmod>2020-08-10</lastmod>
+     <changefreq>daily</changefreq>
+    </url><url>
+     <loc>None</loc>
+     <lastmod>2020-08-10</lastmod>
+     <changefreq>daily</changefreq>
+    </url><url>
+     <loc>None</loc>
+     <lastmod>2020-08-10</lastmod>
+     <changefreq>daily</changefreq>
+    </url><url>
+     <loc>None</loc>
+     <lastmod>2020-08-10</lastmod>
+     <changefreq>daily</changefreq>
+    </url>
+</urlset>